I only know about the 'gram'. Is there another SI mass unit? If so, I submit it must be very elementary, perhaps a single free neutron.
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Two common units for mass are kilograms and grams
A kilogram is a unit of mass. A centimetre is a unit of distance. The two units measure two different things and are therefore incompatible.
Density = Mass/Volume. Conversion between units will depend on what the two units are.
Grams and Kilogarms
You can't.You are trying to convert measurements of two different aspects of things:grams (g - in this case prefixed by kilo- to make kg) are a measure of mass (roughly how heavy something is); whereaslinear feet are a measure of length (how long something is).